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A multi-objective decomposition-based stochastic particle swarm optimization algorithm and its application to optimal design for linear motor

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Kongzhi Lilun Yu Yingyong/control Theory and Applications 2013年第6期30卷 693-701页

作者： Wang, Guang-Hui Chen, Jie Cai, Tao Li, Peng School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

This article proposes a multi-objective decomposition stochastic particle swarm optimization (MDSPSO) algorithm. In MDSPSO, every particle has a weighted vector constantly. Then, an improved Tchebycheff decomposition method is applied to decompose the multi-objective problem into some single-objective problems. The reference position of every particle is uniformly generated in the zone with the center which is the geometrical center of its current position, the best previous reference position as well as the swarm best reference position. The radius of this zone is the distance from the center to its current position. Then the particle is updated to the new position according to the reference position and its current velocity. The comparisons with the decomposition-based multi-objective particle swarm optimizer (dMOPSO), a multiobjective evolutionary algorithm based on decomposition (MOEA/D), and nondominated sorting genetic algorithm II (NSGA-II) show that the solutions of MDSPSO can be dominated at least with the best diversity. To reduce the computational time by finite element analysis for optimizing the structure parameters of linear motor, artificial neural network is used as the model to evaluate the performance. Finally, MDSPSO is applied to optimize four objectives simultaneously. The practical result is shown that the optimized linear motor has an increased thrust, improved efficiency, reduced fluctuation and manufacturing cost.

关键词： Multiobjective optimization

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Distortion correction method in the high-precision and high-speed CCD measurement system

Distortion correction method in the high-precision and high-...

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Chinese control Conference (CCC)

作者： Jing Li Junzheng Wang Renjian Hao Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology 100081 China

In the high-precision and high-speed measurement system, the distortion of CCD pixes will give a greater margin of error to measurement results. According to the characteristic of noise leading to the image distortion, this article establishes the image transformation model. Data fitting based method is used for correcting image distortion. For the distortion caused by camera installation, the perspective transformation is used to correcting the image. And then the four points calibration method is adopted to calibrating the measurement system. Experiments adopt the high speed area array CCD to gather images with the circular facula in the target area launched by the laser, and calculate the real position of the facula in the target area, adopt the high accurate displacement sensor to give the true displacement of the target which is used to verify the real position of the facula in the target area. The results show that the algorithm can reduce the influence of image distortion, which advances the measurement accuracy efficiently.

关键词： Charge coupled devices Distortion measurement Optical distortion Cameras Measurement uncertainty Calibration Real-time systems

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Design and simulation of a hydraulic biped robot

Design and simulation of a hydraulic biped robot

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Chinese control Conference (CCC)

作者： Guangrong Chen Junzheng Wang Lipeng Wang Yudong He Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology 100081 China

Hydraulic biped robots have better mobility than conventional wheeled robots, and hydraulic actuator has some incomparable advantages, such as large torque and strong load capacity. In this paper, the biped structure of robot actuated by hydraulic system is designed to make it simulate human's action better. Meanwhile, for actuating the bipedal locomotion, the design and performance test of electro-hydraulic position servo system based on micro valve-controlled cylinder has been done. Then, the biped robot module can be taken as an inverted pendulum mathematical model to achieve all the gait planning, including starting gait, normal walking gait and stopping gait. Also, the stability of the gait and the feasibility of the gait planning are evaluated through ZMP principle. Finally, the virtual prototype model of biped robot is created to simulate the biped structure of robot and the planning gait, and the stability of walking and the effectiveness of the way of gait planning are verified very well.

关键词： Legged locomotion Planning Stability analysis Electronic mail Servomotors

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Comparison of Several Filtering Methods for Linear Multi-agent systems with Local Unknown Parametric Couplings

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IFAC Proceedings Volumes 2013年第20期46卷 212-217页

作者： Yini Lv Hongbin Ma Chenguang Yang Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China 100081 School of Computing and Mathematics Plymouth University UK PL4 8AA

In this paper, several filtering methods for a class of discrete-time stochastic linear time-varying multi-agent systems with local coupling uncertainties have been investigated. Every agent can only observe its own measurements (outputs) and its neighbor agents' outputs while the states are invisible to any agent because of communication limitations existing in the considered multi-agent system. Because of the information constraints, without knowing the coupling gains of the local interactions, it is not easy for each agent to estimate its states by traditional Kalman filter or other state observers. Noting of the existence of coupling uncertainties in many practical applications, this paper introduces one general framework of decentralized filtering problem of multi-agent systems. For the considered system, based on the key idea of state augmentation and the certainty-equivalence principle borrowed from principles in adaptive control, we introduce several filtering methods to resolve the fundamental problem considered in this paper. By conducting extensive simulations, the consuming time and estimation errors of every method are compared for one typical example, which suggests which method is more precise and faster.

关键词： multi-agent dynamic system Kalman filter parametric coupling uncertainty decentralized filtering centralized filtering

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Differential Evolution Based Receding Horizon controlfor UAV Motion Planning in Dynamic Environments

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机器人 2013年第1期 107-114页

作者： ZHANG Xing BAI YongQiang XIN Bin CHEN Jie School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Decision and Cognitive Sciences Research Centre Manchester Business SchoolUniversity of Manchester

This paper presents online motion planning for UAV(unmanned aerial vehicle) in complex threat field,including both static threats and moving threats,which can be formulated as a dynamic constrained optimal control *** horizon control(RHC) based on differential evolution(DE) algorithm is adopted.A location-predicting model of moving threats is established to assess the value of threat that UAV faces in *** flyable paths can be generated by the control inputs which are optimized by DE under the guidance of the objective *** results demonstrate that the proposed method not only generates smooth and flyable paths,but also enables UAV to avoid threats efficiently and arrive at destination safely.

关键词： unmanned aerial vehicle motion planning receding horizon control differential evolution

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The CPG Gait Generate Method of the Quadruped Robot Based on Iterative Learning control Algorithm

The CPG Gait Generate Method of the Quadruped Robot Based on...

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The Second International Conference on Micro Nano Devices,Structure and Computing systems(MNDSCS 2013)

作者： WANG Cheng GAO Junyao DUAN Xingguang LIU Yi LI Xin XU Zhe SUN Wentao Intelligent Robotics Institute Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Key Laboratory of Intelligent control and decision of complex systems' School of Mechatronical Engineering Beijing Institute of Technology

Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization.

关键词： Quadruped bionic robot the walking gait CPG the repeated iterative learning

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Mechanical Design of the Legs of Hydraulically Actuated Quadruped Bionic Robot

Mechanical Design of the Legs of Hydraulically Actuated Quad...

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2013 ICME International Conference on complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Xin Li Wentao Sun Junyao Gao Xingguang Duan Qiang Huang Hui Li Huaxin Liu Wenxue Zhao Zhe Xu Yi Liu Intelligent Robotics Institute State Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism's motion to capture the dynamic characteristics of the quadruped *** paper analyses the effect of the length of legs on the walking structure from different aspects: its movement speed,capability of climbing obstacles and the workspace of its foot *** addition,to achieve the optimization target of balancing the output force of each hydraulic cylinder,the paper establishes a mathematical model under required constraints working out the lever members that accommodated with the *** all these factors,the most satisfied structural parameters of the autonomous quadruped robot are selected.

关键词： hydraulic quadruped robot the output force of the hydraulic cylinder structural parameters

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Design and development of vacuum pumping and liquid injection system

Design and development of vacuum pumping and liquid injectio...

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32nd Chinese control Conference, CCC 2013

作者： Shen, Wei Wang, Jun-Zheng Jing, Li Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9789881563835

The vacuum pumping and liquid injection system is designed to meet the requirement of liquid automatic injection in a closed chamber. It is made up of vacuum pumping subsystem, liquid injection subsystem and control subsystem. The whole system has a high quality in vacuum pumping and liquid injection in a closed chamber. By using hardware filtering and the flow signal processing method based on pulse duty cycle and duration comparison, the injected liquid volume can be measured accurately in various strong interference environments. In order to solve the problem of injection pressure cannot be exactly controlled sometime, the method of pressure feedback control based on PID algorithm is developed. Finally, the quality of liquid injection is improved greatly and the requirements of injection are met very well. © 2013 TCCT, CAA.

关键词： Signal processing

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The Modeling and Estimation of Asynchronous Multirate Multisensor Dynamic systems

The Modeling and Estimation of Asynchronous Multirate Multis...

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第三十二届中国控制会议

作者： Liping Yan Bo Xiao Yuanqing Xia Mengyin Fu School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781479900305

This paper is concerned with the state estimation of a linear dynamic system and the fusion of asynchronous multirate multisensor *** dynamic system is described at the finest scale with multiple sensors observing a single target independently at different scales with different sampling *** main result is that the multiscale measurements are properly formulated,and an optimal recursive fusion algorithm is presented.A numerical example is given to show the feasibility and efficiency of the algorithm.

关键词： state estimation recursive fusion asynchronous multirate multiscale Kalman filter

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Consensus of Multiple High-order Nonlinear systems with Uncertainty

Consensus of Multiple High-order Nonlinear Systems with Unce...

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第三十二届中国控制会议

作者： Jie Huang Jie Chen Hao Fang Lihua Dou Qingkai Yang School of Automation Beijing Institute of Technology Key Laboratory Intelligent Control and Decision of Complex System Fujian Institute of Education

ISBN: (纸本)9781479900305

This paper focuses on the consensus problem of a class of multiple high-order nonlinear systems with uncertainty under the fixed and undirected communication topology. The distributed virtual control functions of the multi-agent system are constructed by only using their local information in the recursive controller design procedure. A set of distributed cooperative consensus control laws is proposed through combining backstepping and adaptive control techniques. The asymptotic stability of the overall interconnected system is proved relying on Lyapunov stability analysis method. Furthermore, the proposed control scheme can be extended to apply to the condition when the communication graph is directed or time-varying. Finally, simulation is provided to verify the effectiveness of the control algorithms.

关键词： adaptive control, consensus control, backstepping, high-order nonlinear systems, uncertainty, multi-agent

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